Truss manipulator based on hydraulic tensioner assembly line assembly

Abstract

The utility model discloses a truss manipulator based on hydraulic tensioner assembly line assembly, which comprises a truss manipulator frame body, the truss manipulator frame body comprises a track frame, a support column and a plurality of moving frames, the track frame is provided with a plurality of moving frames which are respectively and independently controlled to move, and the track frame is provided with a plurality of groups of first tracks for the moving frames to translate in parallel. One side of the track frame extends out of the supporting column to form a cantilever part, and the cantilever part extends above the assembly line; the multiple movable frames comprise second rails which move and are adjusted on the first rails, lifting control parts are arranged on the second rails, and clamping jaw structures are arranged at the lower ends of the lifting control parts. The truss manipulator is provided with a plurality of independently controlled truss mechanical arms, is suitable for sequential assembly of a plurality of parts, and avoids the defects of low manual assembly efficiency and high labor intensity; the sensor is arranged on the clamping jaw structure, so that fine adjustment of the clamping form can be carried out after material taking, and then the assembling precision in the subsequent assembling process is improved.

Description

Technical Field

[0001] This utility model relates to the field of assembly line technology, specifically to a gantry robot based on hydraulic tensioner assembly line assembly. Background Technology

[0002] A hydraulic tensioner is a device used to maintain appropriate tension in chains or belts. It automatically adjusts through an internal hydraulic system to adapt to changing working conditions. Assembling a hydraulic tensioner typically requires sequentially assembling various parts, including the cylinder body, tie rod, push rod, spring, and support. While manual assembly offered high precision, it was inefficient. In assembly line practices, the large number of parts necessitates the use of multiple multi-axis robots for assembly, which is costly. Furthermore, the robots' simple gripping mechanisms lack adjustment capabilities, leading to assembly deviations.

[0003] In view of the above, it is necessary to propose a gantry robot based on hydraulic tensioner assembly line to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to overcome the defects in the existing technology and provide a gantry robot based on hydraulic tensioner assembly line assembly.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: A truss manipulator based on hydraulic tensioner assembly line assembly includes a truss manipulator frame, which includes a track frame, a support column, and a movable frame. The track frame is provided with multiple movable frames, each with independent movement control. Multiple sets of first tracks for the translation of the movable frames are arranged parallel to each other on the track frame. One side of the track frame extends outward from the support column to form a cantilever section, which extends above the assembly line. The multiple movable frames include a second track that is movable and adjustable on the first track. The second track is provided with a lifting control unit, and the lower end of the lifting control unit is provided with a gripper structure.

[0006] Furthermore, the multiple support columns support the fixed track frame at a certain horizontal height, and the rectangular area enclosed by the support columns is the material loading area.

[0007] Furthermore, the first track is laid in a direction from the loading area to the assembly line, so that the moving frame moves back and forth between the assembly line and the loading area, and the second track is set in a direction perpendicular to the first track.

[0008] Furthermore, each of the movable frames includes two parallel second tracks, with a lifting control unit disposed between the two second tracks, such that the lifting control unit and the two second tracks form an H-shape, and the lifting control unit moves and adjusts its position on the two second tracks.

[0009] Furthermore, the lifting control unit includes a movable seat and a lifting arm. The movable seat is straddling two second tracks, and the lifting arm passes through the movable seat. The lifting arm can be adjusted in height relative to the movable seat, and a gripper structure is provided at the lower end of the lifting arm.

[0010] Furthermore, the gripper structure includes a gripping cylinder and two symmetrically movable grippers. One side of the gripping cylinder is connected to the lifting arm, and the other side forms a translational track for the sliding control of the two grippers.

[0011] Furthermore, the claw portion includes a gripper plate, one side of which has a groove, and the lower side of the groove forms a stepped portion; the grooves of the two gripper plates on the clamping cylinder are arranged opposite to each other to form a gripping portion that matches the shape of the assembled workpiece.

[0012] Furthermore, a proximity sensor is provided on the upper surface of the stepped portion.

[0013] Furthermore, a clamping plate is provided on the vertical surface of the step and the inner bottom surface of the groove, and a pressure sensor is provided between the clamping plate and the vertical surface of the step and the inner bottom surface of the groove.

[0014] The advantages and beneficial effects of this utility model are as follows: This utility model provides a gantry robot based on hydraulic tensioner assembly line, which is equipped with multiple independently controlled gantry robot arms. It is suitable for the sequential assembly of multiple parts, avoiding the disadvantages of low efficiency and high labor intensity of manual assembly. The sensors installed on the gripper structure can be used to fine-tune the gripping shape after picking up the material, thereby improving the assembly accuracy in the subsequent assembly process. Attached Figure Description

[0015] Figure 1 This is a perspective view of a truss robot based on hydraulic tensioner assembly line assembly according to this utility model.

[0016] Figure 2 This is a side view of the truss robot based on the hydraulic tensioner assembly line assembly of this utility model;

[0017] Figure 3 This is a schematic diagram of the gripper structure in this utility model.

[0018] Figure 4 This is a partially enlarged view of the gripper structure in this utility model;

[0019] In the figure: 1. Truss manipulator frame; 2. Rail frame; 3. Support column; 4. Moving frame; 5. First rail; 6. Cantilever part; 7. Second rail; 8. Lifting control part; 9. Claw structure; 10. Loading area; 11. Moving seat part; 12. Lifting arm; 13. Clamping cylinder; 14. Claw part; 15. Claw plate; 16. Groove; 17. Step part; 18. Proximity sensor; 19. Clamping plate; 20. Pressure sensor; 21. Folded edge; 22. Support workpiece. Detailed implementation mode

[0020] The following combines the drawings and embodiments to further describe the detailed implementation mode of the present utility model. The following embodiments are only used to more clearly illustrate the technical solution of the present utility model, and cannot be used to limit the protection scope of the present utility model.

[0021] A truss manipulator based on the pipeline assembly of a hydraulic tensioner, including a truss manipulator frame 1, and the truss manipulator frame 1 includes a rail frame 2, a support column 3, and a moving frame 4. The rail frame 2 is provided with a plurality of moving frames 4 that are independently controlled to move. Multiple groups of first rails 5 for the translation of the moving frame 4 are arranged in parallel on the rail frame 2. As Figure 1 shown, the rail frame 2 forms a rectangular frame, and multiple cross beams are arranged in parallel inside the frame, so that the rail frame 2 forms a structure like a Chinese character "mu". The first rails 5 are arranged on the cross beams and end frames of the rail frame 2. A group of moving frames 4 is arranged between every two first rails 5. It can be understood that the moving frame 4 can move on the first rails 5 to move back and forth between the loading area 10 and the workstations on the pipeline to carry the workpieces to be assembled.

[0022] One side of the rail frame 2 extends outside the support column 3 to form a cantilever part 6. As Figure 1 , 2 shown, the cantilever part 6 extends above the pipeline; since there is no space for the support column 3 on the other side of the pipeline far from the truss manipulator, considering this, one side of the rail frame 2 is extended to the pipeline and the first rails 5 are also laid above the pipeline, so that the moving frame 4 can move to the corresponding workstations. The multiple support columns 3 support and fix the rail frame 2 at a certain horizontal height. The rectangular area surrounded by the support columns 3 is the loading area 10. During actual use, the moving frame 4 moves to the loading area 10 to control the descent to pick up the workpiece, and then moves to the workstations on the pipeline for placement and assembly.

[0023] In this embodiment, multiple movable frames 4 correspond to multiple workpiece assembly stations. Each movable frame 4 includes a second track 7 that moves and adjusts on a first track 5. A lifting control unit 8 is provided on the second track 7, and a gripper structure 9 is provided at the lower end of the lifting control unit 8. The multiple first tracks 5 are laid in a direction from the loading area 10 to the assembly line, so that the movable frame 4 moves back and forth between the assembly line and the loading area 10. The second tracks 7 are set perpendicular to the first tracks 5. The lifting control unit 8 moves and adjusts its position on the two second tracks 7. Workpieces with a preset shape are placed in the loading area 10 for easy gripping by the gripper structure 9. By adjusting the position of the lifting control unit 8 on the first track 5 and the second track 7, the gripper structure 9 can be aligned with each workpiece to be gripped and lowered.

[0024] As an improvement, to enhance assembly accuracy, each of the moving frames 4 includes two parallel second tracks 7, with a lifting control unit 8 positioned between the two second tracks 7, forming an H-shape with the lifting control unit 8 and the two second tracks 7. Ordinary gantry robots typically have only one second track 7, which causes the lifting arm 12 to generate an overturning moment around the second track 7 during use. Furthermore, the lifting arm 12's movement makes it difficult to guarantee the horizontal position accuracy of the gripper structure 9 at different heights. This improvement, by setting two second tracks 7, allows the moving frame 4 structure to achieve higher precision.

[0025] Furthermore, the lifting control unit 8 includes a movable seat 11 and a lifting arm 12. The movable seat 11 is straddling two second tracks 7, and the lifting arm 12 is disposed through the movable seat 11. The lifting arm 12 is adjustable in height relative to the movable seat 11, and a gripper structure 9 is provided at the lower end of the lifting arm 12. The movable seat controls the lifting control unit 8 to move on the second tracks 7 and reach above the workpiece. Then, the lifting arm 12 falls and grips the workpiece through the gripper structure 9.

[0026] Furthermore, the gripper structure 9 includes a gripping cylinder 13 and two symmetrically movable claw parts 14. One side of the gripping cylinder 13 is connected to the lifting arm 12, and the other side forms a translational track for the sliding control of the two claw parts 14. Figure 3As shown, the clamping cylinder 13 controls the symmetrical movement of the two claws 14. Each claw 14 includes a clamping plate 15, with a groove 16 on one side and a step 17 formed on the lower side of the groove 16. The grooves 16 of the two clamping plates 15 on the clamping cylinder 13 are arranged opposite each other, forming a gripping part that matches the shape of the workpiece. Taking the gripping of the support workpiece 22 of the hydraulic tensioner as an example, the groove 16 has a certain width in the vertical direction, which is greater than the thickness of the upper edge 21 of the support workpiece 22, to provide a tolerance range for the lifting arm 12. During use, to avoid collision between the step 17 and the edge 21 of the workpiece during clamping, the lifting arm 12 will lower slightly more, so that the bottom of the groove 16 or the vertical surface of the step 17 clamps the workpiece. However, this slight increase in height will affect the accuracy of the subsequent installation of the support workpiece 22 onto the tensioner. Therefore, when necessary, the edge 21 of the support workpiece 22 should fall on the step 17 to ensure a precise height position during assembly.

[0027] As an improvement, after the gripper structure 9 picks up the workpiece from the loading area 10, an adjustment step is required to change the position of the picked-up workpiece. Specifically, such as... Figure 4 As shown, a proximity sensor 18 is provided on the upper surface of the step portion 17, a clamping plate 19 is provided on the vertical surface of the step portion 17 and the inner bottom surface of the groove 16, and a pressure sensor 20 is provided between the clamping plate 19 and the vertical surface of the step portion 17 and the inner bottom surface of the groove 16. In actual use, due to the different lengths of the workpiece's folded edge 21, pressure may be detected by the pressure sensor 20 in the groove 16 during clamping, meaning that clamping is performed by the groove 16, in which case the length of the folded edge 21 is greater than that of the step portion 17; if pressure is detected by the pressure sensor 20 on the vertical surface of the step portion 17, then clamping is performed by the step portion 17. Specifically, the adjustment is as follows: based on the pressure display, the air pressure supply of the clamping cylinder 13 is gradually reduced until the pressure sensor 20 decreases to near zero, at which point the workpiece will fall under its own weight. At this time, the folded edge 21 of the workpiece will cover the proximity sensor 18, causing the proximity sensor 18 to issue feedback, meaning that the workpiece has fallen to the predetermined position. Then, based on the display of the pressure sensor 20, appropriate pressure is applied to the clamping cylinder 13 to maintain a better clamping force and move the workpiece to the workstation on the assembly line, where it is then dropped for assembly.

[0028] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A truss manipulator based on hydraulic tensioner assembly line, characterized in that, The utility model provides a truss mechanical support body (1), truss mechanical support body (1) includes track frame (2), support column (3), mobile frame (4), be equipped with a plurality of each independent movement control's mobile frame (4) on track frame (2), a plurality of groups of first track (5) for the translation of mobile frame (4) are equipped with in parallel on track frame (2), track frame (2) one side extends outside support column (3) and forms cantilever portion (6), the cantilever portion (6) extends to the above of flow line;A plurality of mobile frame (4) include the second track (7) of adjustment on the first track (5) movement, be equipped with lifting control portion (8) on second track (7), lifting control portion (8) lower end is equipped with jaw structure (9).

2. The truss manipulator based on the hydraulic tensioner flow line assembly according to claim 1, characterized in that, A plurality of support column (3) support fixed track frame (2) at a certain horizontal height, the rectangular area surrounded by support column (3) is the feeding area (10).

3. The trussbot of claim 2, wherein, A plurality of first track (5) laying direction is from the feeding area (10) to the direction of flow line, makes mobile frame (4) reciprocating movement in flow line and feeding area (10), the second track (7) setting direction is perpendicular to first track (5).

4. The trussbot of claim 3, wherein, Each mobile frame (4) includes two parallel second tracks (7), lifting control portion (8) is arranged between the two second tracks (7), so that lifting control portion (8) and the two second tracks (7) form H shape, lifting control portion (8) moves and adjusts position on the two second tracks (7).

5. The trussbot based on a hydraulic tensioner assembly line according to claim 4, characterized in that, Lifting control portion (8) includes moving seat portion (11) and lifting arm (12), moving seat portion (11) is arranged across the two second tracks (7), lifting arm (12) is arranged through moving seat portion (11), lifting arm (12) moves and adjusts in the height direction relative to moving seat portion (11), the lower end of lifting arm (12) is provided with jaw structure (9).

6. The trussbot based on a hydraulic tensioner assembly line according to claim 5, characterized in that, Jaw structure (9) includes clamping cylinder (13) and two claw parts (14) moving symmetrically, one side of clamping cylinder (13) is connected with lifting arm (12), the other side forms the translation track for the sliding control of two claw parts (14).

7. The trussbot of claim 6, wherein, Claw part (14) includes jaw plate (15), one side of jaw plate (15) is provided with groove (16), the lower side of groove (16) forms step portion (17), the grooves (16) of the two jaw plates (15) on clamping cylinder (13) are oppositely arranged, forming the holding part matched with the shape of assembled workpiece.

8. The trussbot of claim 7, wherein, The upper plane of step portion (17) is provided with proximity sensor (18).

9. The trussbot of claim 8, wherein, The vertical surface of step portion (17) and the inner bottom surface of groove (16) are provided with clamping plate (19), and a pressure sensor (20) is arranged between the vertical surface of step portion (17) and the inner bottom surface of groove (16) and the clamping plate (19).

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